Midea Group Co., Ltd.

Wei Xi

Yi Heng Chen

Ke Huang

The method and system disclosed herein presents a method and system for capturing, by a camera device on a mobile robot moving in an environment, an image frame at a first location within a portion of the environment. In accordance with a determination that the image frame contains a first visual marker: the method includes determining a camera orientation angle from the camera device to a first anchor associated with the first visual marker based on the image frame; detecting, by a detector on the mobile robot, a first beacon signal emitted by the first anchor. The method includes determining a distance between the mobile robot and the first anchor; and determining an orientation angle of the mobile robot based on the camera orientation angle, and the distance between the mobile robot and the first anchor.

Joint visual localization and orientation detection method

The method and system disclosed herein presents a method and system for capturing, by a camera disposed on a device moving in an environment, a plurality of image frames recorded in a first coordinate reference frame at respective locations within a portion of the environment in a first time period; capturing, by an inertial measurement unit disposed on the device, sets of inertial odometry data recorded in a second coordinate reference frame; determining a rotational transformation matrix that corresponds to a relative rotation between the first reference frame and the second reference frame; and determining a scale factor from the matching pairs of image frames. The rotational transformation matrix defines an orientation of the device, and the scale factor and the rotational transformation matrix calibrate the plurality of image frames captured by the camera.

Method and apparatus for scale calibration and optimization of a monocular visual-inertial localization system

The method and device disclosed herein presents a method that includes capturing, by an optical sensor disposed on a device moving in an environment, a plurality of optical data at respective locations within a portion of the environment; capturing, by a wheel encoder disposed on the device, a set of encoder data corresponding to the plurality of optical data at the respective locations; determining a first relative motion based on the plurality of optical data; determining a corresponding second relative motion based on the set of encoder data. In accordance with determining that a difference between the first relative motion and the corresponding second relative motion is larger than a first threshold: increasing a counter indicating a slip event of the wheel encoder. The slip event corresponds to a wheel of the device advancing and the corresponding second relative motion being below a second threshold.

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San Jose, CA, United States of America

Wei Xi